煤矿刮板锻件锤上模锻生产线机器人化技术改造及其关键问题  

Robotization Technology Transformation and Key Issues of theHammer Forging Production Line for Scraper Forgings in Coal Mines

作　　者：叶洋 汪爱明[2] YE Yang;WANG Aiming(Testing Center of CCTEG China Coal Research Institute,Beijing 100013,China;China University of Mining and Technology(Beijing)College of Electromechanical and Information Engineering,Beijing 100083,China)

机构地区：[1]煤炭科学技术研究院有限公司检测中心,北京100013 [2]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《煤矿机电》2023年第1期42-47,共6页Colliery Mechanical & Electrical Technology

摘　　要：煤机装备锤上模锻生产线工作环境恶劣且劳动强度极大,为把工人从艰苦的生产线中解放出来,在分析某锤上模锻生产线装备及工艺流程的基础上,设计了基于工业机械手和机器视觉的模锻生产线机器人化总体方案。该生产线由无人化上料系统、无人化锻压系统、无人化切边系统和无人化整形码放系统4个部分组成,采用输送机实现高温锻件的中间转载。设计了上述4个系统的详细功能,针对性地设计了基于专用棒料箱、基于电磁吸盘、基于机械手的3种无人化上料系统技术方案,提出了以机械手、PLC、摄像头、工控机为核心,基于机器视觉技术实现无人化锻压系统、切边系统以及整形码放系统的思路。针对机器人化锤上模锻生产线中识别带飞边高温锻件异位位置及研制多功能末端夹持器的两大难点,给出了初步解决思路。The working environment of the coal machinery equipment hammer forging production line is harsh and the labor intensity is extremely high.In order to liberate workers from the difficult production line,based on the analysis of the equipment and process flow of a certain hammer forging production line,a robot based overall plan for the forging production line is designed based on industrial robots and machine vision.This production line consists of four parts:an unmanned feeding system,an unmanned forging and pressing system,an unmanned edge cutting system,and an unmanned shaping and stacking system.A conveyor was used to achieve intermediate transfer of high-temperature forgings.The detailed functions of the four major systems mentioned above,and targeted three unmanned feeding system technical solutions based on dedicated bar material boxes,electromagnetic suction cups,and robotic arms were designed.The idea of implementing unmanned forging and pressing systems,edge cutting systems,and shaping and stacking systems based on machine vision technology,with robotic arms,PLCs,cameras,and industrial control computers as the core were proposed.Preliminary solutions were provided for the two major difficulties in identifying the ectopic position of high-temperature forgings with flash edges and developing multifunctional end clamps in the robotic hammer forging production line.

关 键 词：锤上模锻 工业机械手 机器视觉 锻件异位 末端夹持器 

分 类 号：TG315[金属学及工艺—金属压力加工] TP242[自动化与计算机技术—检测技术与自动化装置]